utils.h

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#ifndef TESSERACT_COLLISION_CORE_UTILS_H
#define TESSERACT_COLLISION_CORE_UTILS_H
 
#include <tesseract_collision/core/types.h>
#include <tesseract_collision/core/contact_result_validator.h>
#include <tesseract_common/contact_allowed_validator.h>
 
namespace tesseract_collision
{
tesseract_common::ContactAllowedValidator::ConstPtr
combineContactAllowedValidators(tesseract_common::ContactAllowedValidator::ConstPtr original,
                                tesseract_common::ContactAllowedValidator::ConstPtr override,
                                ACMOverrideType type = ACMOverrideType::OR);
 
template <typename ManagerType>
inline void applyContactAllowedValidatorOverride(ManagerType& manager,
                                                 const tesseract_common::AllowedCollisionMatrix& acm,
                                                 ACMOverrideType type)
{
  tesseract_common::ContactAllowedValidator::ConstPtr original = manager.getContactAllowedValidator();
  auto override = std::make_shared<tesseract_common::ACMContactAllowedValidator>(acm);
  manager.setContactAllowedValidator(combineContactAllowedValidators(original, override, type));
}
 
template <typename ManagerType>
inline void applyModifyObjectEnabled(ManagerType& manager,
                                     const std::unordered_map<std::string, bool>& modify_object_enabled)
{
  for (const auto& entry : modify_object_enabled)
  {
    if (entry.second)
      manager.enableCollisionObject(entry.first);
    else
      manager.disableCollisionObject(entry.first);
  }
}
}  // namespace tesseract_collision
 
#endif  // TESSERACT_COLLISION_TYPES_H